Scaling laws of compliant elements for high energy storage capacity in robotics

Elias Saerens,Raphaël Furnémont,Tom Verstraten,Pablo López García,Stein Crispel,Vincent Ducastel,Bram Vanderborght,Dirk Lefeber

Mechanism and Machine Theory（2019）

引用 8|浏览15

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摘要

•Compression springs are the best for energy storage capacity per mass.•Spiral springs are the best for energy storage capacity per enclosed volume.•Parallelization of springs is beneficial for energy storage capacity.•Compression springs are the best choice when parallelization of springs is done.•Case study shows that parallelization is especially useful for mass reduction.

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关键词

Scaling laws,Compliant actuation,Parallel arrangements,Energy storage capacity

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